Looks like a physics constraint based system, according to physics no friction means no steering.
Therefore have you tried to change the friction property or even the wheel shape? Size of the wheel seems small as well I would also try changing it to see if antything else changes.
As @dthecoolest said, you have to balance all the same factors as a real car.
Wheel Density and Friction
Car mass
Acceleration of the wheel motors (Don’t use the default MotorMaxAcceleration of inf, whatever you do. Try 10 or 20).
Your wheels are spinning. The small size of the wheel on the ground, the lack of Friction, and probably default Density are going against you.
You can do a simple trick like putting a + sign decal (or another simple decal) on the wheel to see how it’s spinning compared to the ground.